33 #ifndef DART_GUI_RENDERINTERFACE_HPP_
34 #define DART_GUI_RENDERINTERFACE_HPP_
37 #include <Eigen/Dense>
38 #include <assimp/scene.h>
83 virtual void setViewport(
int _x,
int _y,
int _width,
int _height);
84 virtual void getViewport(
int& _x,
int& _y,
int& _width,
int& _height)
const;
86 virtual void clear(
const Eigen::Vector3d& _color);
89 const Eigen::Vector3d& _diffuse,
90 const Eigen::Vector3d& _specular,
93 Eigen::Vector3d& _diffuse,
94 Eigen::Vector3d& _specular,
95 double& _cosinePow)
const;
103 virtual void translate(
const Eigen::Vector3d& _offset);
104 virtual void rotate(
const Eigen::Vector3d& _axis,
double _rad);
105 virtual void transform(
const Eigen::Isometry3d& _transform);
106 virtual void scale(
const Eigen::Vector3d& _scale);
108 virtual void drawSphere(
double radius,
int slices = 16,
int stacks = 16);
110 const std::vector<std::pair<double, Eigen::Vector3d>>& spheres,
114 virtual void drawCube(
const Eigen::Vector3d& _size);
122 double _radius,
double _height,
int slices = 16,
int stacks = 16);
123 virtual void drawCapsule(
double _radius,
double _height);
124 virtual void drawCone(
double _radius,
double _height);
125 virtual void drawPyramid(
double baseWidth,
double baseDepth,
double height);
126 virtual void drawMesh(
const Eigen::Vector3d& _scale,
const aiScene* _mesh);
130 const std::vector<Eigen::Vector3d>& _vertices,
134 const Eigen::Vector3d& _size,
const aiScene* _mesh);
136 virtual void setPenColor(
const Eigen::Vector4d& _col);
137 virtual void setPenColor(
const Eigen::Vector3d& _col);
std::size_t index
Definition: SkelParser.cpp:1672
Definition: RenderInterface.hpp:71
virtual void clear(const Eigen::Vector3d &_color)
Definition: RenderInterface.cpp:56
virtual void pushName(int _id)
Definition: RenderInterface.cpp:86
virtual void pushMatrix()
Definition: RenderInterface.cpp:78
virtual void setLineWidth(float _width)
Definition: RenderInterface.cpp:192
virtual void drawSphere(double radius, int slices=16, int stacks=16)
Definition: RenderInterface.cpp:110
virtual void drawCylinder(double _radius, double _height, int slices=16, int stacks=16)
Definition: RenderInterface.cpp:166
virtual void drawOpenCylinder(double baseRadius, double topRadius, double height, int slices=16, int stacks=16)
Definition: RenderInterface.cpp:157
virtual void getViewport(int &_x, int &_y, int &_width, int &_height) const
Definition: RenderInterface.cpp:51
virtual void initialize()
Definition: RenderInterface.cpp:38
RenderInterface()
Definition: RenderInterface.hpp:73
virtual void drawEllipsoid(const Eigen::Vector3d &_size)
Definition: RenderInterface.cpp:123
virtual void drawList(unsigned int index)
Definition: RenderInterface.cpp:137
virtual void drawCapsule(double _radius, double _height)
Definition: RenderInterface.cpp:171
virtual void drawPyramid(double baseWidth, double baseDepth, double height)
Definition: RenderInterface.cpp:179
virtual void drawSoftMesh(const aiMesh *mesh)
Definition: RenderInterface.cpp:132
virtual void translate(const Eigen::Vector3d &_offset)
Definition: RenderInterface.cpp:94
virtual void popName()
Definition: RenderInterface.cpp:90
virtual void drawCone(double _radius, double _height)
Definition: RenderInterface.cpp:175
virtual void drawMultiSphere(const std::vector< std::pair< double, Eigen::Vector3d >> &spheres, int slices=16, int stacks=16)
Definition: RenderInterface.cpp:115
virtual void setPenColor(const Eigen::Vector4d &_col)
Definition: RenderInterface.cpp:184
virtual void setDefaultMaterial()
Definition: RenderInterface.cpp:74
virtual void drawMesh(const Eigen::Vector3d &_scale, const aiScene *_mesh)
Definition: RenderInterface.cpp:127
virtual void drawCube(const Eigen::Vector3d &_size)
Definition: RenderInterface.cpp:153
virtual void popMatrix()
Definition: RenderInterface.cpp:82
virtual void setViewport(int _x, int _y, int _width, int _height)
Definition: RenderInterface.cpp:46
virtual void getMaterial(Eigen::Vector3d &_diffuse, Eigen::Vector3d &_specular, double &_cosinePow) const
Definition: RenderInterface.cpp:67
virtual void saveToImage(const char *_filename, DecoBufferType _buffType=BT_Back)
Definition: RenderInterface.cpp:196
virtual unsigned int compileDisplayList(const Eigen::Vector3d &_size, const aiScene *_mesh)
Definition: RenderInterface.cpp:147
virtual void setMaterial(const Eigen::Vector3d &_diffuse, const Eigen::Vector3d &_specular, double _cosinePow)
Definition: RenderInterface.cpp:60
virtual void scale(const Eigen::Vector3d &_scale)
Definition: RenderInterface.cpp:106
virtual void rotate(const Eigen::Vector3d &_axis, double _rad)
Definition: RenderInterface.cpp:98
virtual void readFrameBuffer(DecoBufferType _buffType, DecoColorChannel _ch, void *_pixels)
Definition: RenderInterface.cpp:201
virtual void transform(const Eigen::Isometry3d &_transform)
Definition: RenderInterface.cpp:102
virtual void drawLineSegments(const std::vector< Eigen::Vector3d > &_vertices, const common::aligned_vector< Eigen::Vector2i > &_connections)
Definition: RenderInterface.cpp:141
virtual void destroy()
Definition: RenderInterface.cpp:42
virtual ~RenderInterface()
Definition: RenderInterface.hpp:76
std::vector< _Tp, Eigen::aligned_allocator< _Tp > > aligned_vector
Definition: Memory.hpp:71
DecoBufferType
Definition: RenderInterface.hpp:46
@ BT_Front
Definition: RenderInterface.hpp:47
@ BT_Back
Definition: RenderInterface.hpp:48
DecoDrawType
Definition: RenderInterface.hpp:62
@ DT_SolidPolygon
Definition: RenderInterface.hpp:64
@ DT_FrontPolygon
Definition: RenderInterface.hpp:65
@ DT_BackPolygon
Definition: RenderInterface.hpp:66
@ DT_WireFrame
Definition: RenderInterface.hpp:63
@ DT_Max
Definition: RenderInterface.hpp:67
DecoColorChannel
Definition: RenderInterface.hpp:52
@ CC_B
Definition: RenderInterface.hpp:55
@ CC_R
Definition: RenderInterface.hpp:53
@ CC_RGBA
Definition: RenderInterface.hpp:58
@ CC_A
Definition: RenderInterface.hpp:56
@ CC_G
Definition: RenderInterface.hpp:54
@ CC_RGB
Definition: RenderInterface.hpp:57
Definition: BulletCollisionDetector.cpp:65